def transition(self): """ Resample around current point, taking into account whatever we know about the robot's capacity for movement. """ self.x, self.y = robot.new_robot_coordinates(self.x, self.y) #self.x, self.y = robot.undirected_new_robot_coordinates(self.x, self.y) return
def generate_coordinates(self, count): """Generate beacon coordinates based on random movement of robot.""" coordinates = [] actual_x = random.normalvariate(0, 1) actual_y = random.normalvariate(0, 1) x = y = 0.0 for i in range(count): # move the robot and generate new beacon readings with random # offsets from actual robot coordinates (to simulate noise) beacon_x, beacon_y = robot.beacon_readings(actual_x, actual_y) coordinates.append([actual_x, actual_y, beacon_x, beacon_y]) actual_x, actual_y = robot.new_robot_coordinates(actual_x, actual_y) return coordinates